global_timestamp_reader: no blocking. #6150
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src/global_timestamp_reader.cpp
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| base_x = -max_device_time; | ||
| else | ||
| return false; | ||
| LOG_DEBUG("CLinearCoefficients:update_samples_base(" << base_x << ")"); |
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Use _FUNCTION_ macro instead of CLinearCoefficients:update_samples_base
src/global_timestamp_reader.cpp
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| double CLinearCoefficients::get_last_hw_time() const | ||
| { | ||
| return (_last_values.front()._x); |
src/global_timestamp_reader.cpp
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| @@ -161,23 +193,21 @@ namespace librealsense | |||
| { | |||
| if (!_users_count) | |||
| throw wrong_api_call_sequence_exception("time_diff_keeper::update_diff_time called before object started."); | |||
| std::lock_guard<std::recursive_mutex> lock(_mtx); | |||
| double system_time_start = duration<double, std::milli>(system_clock::now().time_since_epoch()).count(); | |||
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| double sample_hw_time = _device->get_device_time_ms(); | |||
| double system_time_finish = duration<double, std::milli>(system_clock::now().time_since_epoch()).count(); | |||
| if (system_time_finish - system_time_start > 2.0) | |||
| throw io_exception("get_device_time_ms() took too long (more then 2 mSecs)"); | |||
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Can be added to log as error/warning. No need for exception here.
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I seems cleaner to use exception then LOG +"return false" since already inside a try-catch section.
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This is a recoverable case which does not necessary requires user interaction, as the system can recover from it automatically.
Adding it to log is needed in any case.
Also - I noticed in the latest v2.34.0 under linux the message appears much often than 2 sec in Viewer.
src/global_timestamp_reader.cpp
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| { | ||
| update_diff_time(); | ||
| // A time loop happend: |
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…he first 3 seconds. Delay is currently caused by global_time_stamp_reader blocking the first frame while it is still in an unready condition.
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…n runs with GlobalTimeStampReader on and off.
… increase stability testing initial frames.
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src/global_timestamp_reader.cpp
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| @@ -183,15 +213,15 @@ namespace librealsense | |||
| _min_command_delay = command_delay; | |||
| } | |||
| double system_time(system_time_finish - _min_command_delay); | |||
| if (sample_hw_time < _last_sample_hw_time) | |||
| std::lock_guard<std::recursive_mutex> lock(_read_mtx); | |||
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I think that mutex shall be applied in all places the internal buffer is being evaluated. For review
src/global_timestamp_reader.cpp
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| //LOG_DEBUG("time_diff_keeper::call reset()"); | ||
| _coefs.reset(); | ||
| double un_used; | ||
| _coefs.update_samples_base(sample_hw_time, un_used); |
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The second parameter is not used, can it be dropped?
| @@ -216,30 +246,28 @@ namespace librealsense | |||
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| void time_diff_keeper::polling(dispatcher::cancellable_timer cancellable_timer) | |||
| { | |||
| update_diff_time(); | |||
| unsigned int time_to_sleep = _poll_intervals_ms + _coefs.is_full() * (9 * _poll_intervals_ms); | |||
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Pls add explanation comment here
| REQUIRE_NOTHROW(subdevice.stop()); | ||
| REQUIRE_NOTHROW(subdevice.close()); | ||
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| lock.unlock(); |
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Do it after cv is unblocked.
| CAPTURE(median_diff_gts_on); | ||
| CAPTURE(median_diff_gts_off); | ||
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| REQUIRE(median_diff_gts_on > 0.5*median_diff_gts_off); |
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During 10 second Gyto will generate 4000 frames. Imo the median will not suffice.
…equire timestamps to increase.
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…ame thread. continue system_time-hw_time equation through time loop.
…oner. Reduces number of frame requests receiving Hardware timestamp instead of global timestamp.
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prevent calls for get_device_time_ms from frame thread.
continue system_time-hw_time equation through time loop.